TIME DOMAIN

ANALYSIS
FACULTY OF ENGINEERING &
TECHNOLOGY

Amit Singh By Amit Singh 1

 TIME DOMAIN ANALYSIS

BOOKS

1. AUTOMATIC CONTROL SYSTEM KUO & GOLNARAGHI

2. CONTROL SYSTEM ANAND KUMAR
3. AUTOMATIC CONTROL SYSTEM S.HASAN SAEED
TIME DOMAIN ANALYSIS
DEFINITIONS
TIME RESPONSE: The time response of a system is the
output (response) which is function of the time, when
input (excitation) is applied.
Time response of a control system consists of two parts

1. Transient Response 2. Steady State Response

Mathematically, c(t)  c (t)  c (t)
t ss
Where, ct (t) = transient response
css (t) = steady state response
TRANSIENT RESPONSE: The transient response is the
part of response which goes to zero as time
increases. Mathematically
Limit c (t)  0
t
t
The transient response may be exponential or
oscillatory in nature.
STEADY STATE: The steady state response is the part of the total
response after transient has died.
STEADY STATE ERROR: If the steady state response of
the output does not match with the input then the
system has steady state error, denoted by ess .
4
TEST SIGNALS FOR TIME RESPONSE:
For analysis of time response of a control system,
following input signals are used
1. STEP FUNCTION:
Consider an independent voltage source in series with
a switch ‘s’. When switch open the voltage at
terminal 1-2 is zero.
Mathematically,
v(t)  0 ;   t  0
When the switch is closed at t=0
v(t)  K ; 0t
Combining above two equations
v(t)  0   t  0
;
v(t)  ; 0t
K
A unit step function is denoted by u(t) and defined as
u(t)  0 ; t0
 u(t)  ; 0t
1

Laplace transform:

st
 
e  1
£f(t)= u(t)e  st dt 1.estdt   
    s 0 s
 
0 0

2. RAMP FUNCTION:
Ramp function starts from origin and increases or
decreases linearly with time. Let r(t) be the ramp
function then, r(t)
K>0
r(t)=0 ; t<0
=Kt ; t>0
t

7
LAPLACE TRANSFORM:
 
Ktestdt  K



st
dt
£r(t)

  0
s
2

r(t)e
0
K
 R(s) 
s2
For unit ramp K=1
r(t)
0 t

K<0
8
3. PARABOLIC FUNCTION:
The value of r(t) is zero for t<0 and is quadratic function
of time for t>0. The parabolic function represents a
signal that is one order faster than the ramp function.
The parabolic function is defined as
r(t)  0
t0
r(t)

2
Kt t0
2
For unit parabolic function K=1
r(t) r(t)
0 2
t0

t2
t0
9
IMPULSE RESPONSE: Consider the following fig.

The first pulse has a width T and height 1/T, area of the
pulse will be 1. If we halve the duration and double
the amplitude we get second pulse. The area under
the second pulse is also unity.

11
We can say that as the duration of the pulse
approaches zero, the amplitude approaches infinity
but area of the pulse is unity.
The pulse for which the duration tends to zero and
amplitude tends to infinity is called impulse. Impulse
function also known as delta function.
Mathematically
δ(t)= 0 ; t ≠ 0
=∞ ; t = 0
Thus the impulse function has zero value
everywhere except at t=0, where the amplitude
is infinite.
12
An impulse function is the derivative of a step function
δ(t) = u(t)

d 1
£δ(t) = £ u(t) s.  1
s

dt
INPUT r(t) SYMBOL R(S)

UNIT STEP U(t) 1/s

UNIT RAMP r(t) 1/s2

UNIT PARABOLIC - 1/s3

UNIT IMPULSE δ(t) 1

13
TIME DOMAIN ANALYSIS

Amit Singh 1
 BOOKS

4. AUTOMATIC CONTROL SYSTEM KUO & GOLNARAGHI

5. CONTROL SYSTEM ANAND KUMAR
6. AUTOMATIC CONTROL SYSTEM S.HASAN SAEED
2
 DEFINITIONS
TIME RESPONSE: The time response of a system is the
output (response) which is function of the time, when
input (excitation) is applied.
Time response of a control system consists of two parts

2. Transient Response 2. Steady State Response

Mathematically, c(t)  c (t)  c (t)
t ss
Where, ct (t) css (t)
=
transie
nt
respons
e
=
steady
state
respon
se

3
TRANSIENT RESPONSE: The transient response is the
part of response which goes to zero as time
increases. Mathematically
Limit ct (t)  0
t

The transient response may be exponential or

oscillatory in nature.
STEADY STATE: The steady state response is the part of
the total response after transient has died.
STEADY STATE ERROR: If the steady state response of
the output does not match with the input then the
system has steady state error, denoted ess .
by
4
TEST SIGNALS FOR TIME RESPONSE:
For analysis of time response of a control system,
following input signals are used
1. STEP FUNCTION:
Consider an independent voltage source in series with
a switch ‘s’. When switch open the voltage at
terminal 1-2 is zero.
5
Mathematically,
v(t)  0 ;   t  0
When the switch is closed at t=0
v(t)  K ; 0t
Combining above two equations
v(t)  0   t  0
;
v(t)  ; 0t
K
A unit step function is denoted by u(t) and defined as
u(t)  0 ; t0
 u(t)  ; 0t
1

Laplace transform:

st
 
e  1
£f(t)= u(t)e  st dt 1.estdt   
    s 0 s
 
0 0

2. RAMP FUNCTION:
Ramp function starts from origin and increases or
decreases linearly with time. Let r(t) be the ramp
function then, r(t)
K>0
r(t)=0 ; t<0
=Kt ; t>0
t

7
LAPLACE TRANSFORM:
 
Ktestdt  K



st
dt
£r(t)

  0
s
2

r(t)e
0
K
 R(s) 
s2
For unit ramp K=1
r(t)
0 t

K<0
8
3. PARABOLIC FUNCTION:
The value of r(t) is zero for t<0 and is quadratic function
of time for t>0. The parabolic function represents a
signal that is one order faster than the ramp function.
The parabolic function is defined as
r(t)  0
t0
r(t)

2
Kt t0
2
For unit parabolic function K=1
r(t) r(t)
0 2
t0

t2
t0
9
IMPULSE RESPONSE: Consider the following fig.

The first pulse has a width T and height 1/T, area of the
pulse will be 1. If we halve the duration and double
the amplitude we get second pulse. The area under
the second pulse is also unity.

11
We can say that as the duration of the pulse
approaches zero, the amplitude approaches infinity
but area of the pulse is unity.
The pulse for which the duration tends to zero and
amplitude tends to infinity is called impulse. Impulse
function also known as delta function.
Mathematically
δ(t)= 0 ; t ≠ 0
=∞ ; t = 0
Thus the impulse function has zero value
everywhere except at t=0, where the amplitude
is infinite.
12
An impulse function is the derivative of a step function
δ(t) = u(t)

d 1
£δ(t) = £ u(t) s.  1
s

dt
INPUT r(t) SYMBOL R(S)

UNIT STEP U(t) 1/s

UNIT RAMP r(t) 1/s2

UNIT PARABOLIC - 1/s3

UNIT IMPULSE δ(t) 1

13
 THANK
YOU FOR
ATTENTION
TIME DOMAIN ANALYSIS

Amit Singh 1
 BOOKS

7. AUTOMATIC CONTROL SYSTEM KUO & GOLNARAGHI

8. CONTROL SYSTEM ANAND KUMAR
9. AUTOMATIC CONTROL SYSTEM S.HASAN SAEED
2
 DEFINITIONS
TIME RESPONSE: The time response of a system is the
output (response) which is function of the time, when
input (excitation) is applied.
Time response of a control system consists of two parts

3. Transient Response 2. Steady State Response

Mathematically, c(t)  c (t)  c (t)
t ss
Where, ct (t) css (t)
=
transie
nt
respons
e
=
steady
state
respon
se

3
TRANSIENT RESPONSE: The transient response is the
part of response which goes to zero as time
increases. Mathematically
Limit ct (t)  0
t

The transient response may be exponential or

oscillatory in nature.
STEADY STATE: The steady state response is the part of
the total response after transient has died.
STEADY STATE ERROR: If the steady state response of
the output does not match with the input then the
system has steady state error, denoted ess .
by
4
TEST SIGNALS FOR TIME RESPONSE:
For analysis of time response of a control system,
following input signals are used
1. STEP FUNCTION:
Consider an independent voltage source in series with
a switch ‘s’. When switch open the voltage at
terminal 1-2 is zero.
5
Mathematically,
v(t)  0 ;   t  0
When the switch is closed at t=0
v(t)  K ; 0t
Combining above two equations
v(t)  0   t  0
;
v(t)  ; 0t
K
A unit step function is denoted by u(t) and defined as
u(t)  0 ; t0
 u(t)  ; 0t
1

Laplace transform:

st
 
e  1
£f(t)= u(t)e  st dt 1.estdt   
    s 0 s
 
0 0

2. RAMP FUNCTION:
Ramp function starts from origin and increases or
decreases linearly with time. Let r(t) be the ramp
function then, r(t)
K>0
r(t)=0 ; t<0
=Kt ; t>0
t

7
LAPLACE TRANSFORM:
 
Ktestdt  K



st
dt
£r(t)

  0
s
2

r(t)e
0
K
 R(s) 
s2
For unit ramp K=1
r(t)
0 t

K<0
8
3. PARABOLIC FUNCTION:
The value of r(t) is zero for t<0 and is quadratic function
of time for t>0. The parabolic function represents a
signal that is one order faster than the ramp function.
The parabolic function is defined as
r(t)  0
t0
r(t)

2
Kt t0
2
For unit parabolic function K=1
r(t) r(t)
0 2
t0

t2
t0
9
IMPULSE RESPONSE: Consider the following fig.

The first pulse has a width T and height 1/T, area of the
pulse will be 1. If we halve the duration and double
the amplitude we get second pulse. The area under
the second pulse is also unity.

11
We can say that as the duration of the pulse
approaches zero, the amplitude approaches infinity
but area of the pulse is unity.
The pulse for which the duration tends to zero and
amplitude tends to infinity is called impulse. Impulse
function also known as delta function.
Mathematically
δ(t)= 0 ; t ≠ 0
=∞ ; t = 0
Thus the impulse function has zero value
everywhere except at t=0, where the amplitude
is infinite.
12
An impulse function is the derivative of a step function
δ(t) = u(t)

d 1
£δ(t) = £ u(t) s.  1
s

dt
INPUT r(t) SYMBOL R(S)

UNIT STEP U(t) 1/s

UNIT RAMP r(t) 1/s2

UNIT PARABOLIC - 1/s3

UNIT IMPULSE δ(t) 1

13
Thanku